Okay so first off, i think because you know what you did and you are sorry is a start. She might not ever forgive you but you can still move on, it's very common for people to know consent and how it exactly works. Watch on YouTube consent is like a cup of tea. If everyone has some proper education on consent topics like this it might not happen to people as much. i think this video is great for everyone to watch because it covers alot. The only thing that it does not cover is this, some people ask their partner to do things to them while they are asleep, I would not advise ever doing this unless you and your partner have properly talked about it and you's have been together for a long time.